Need advice about driver programming.

I wanted to study driver development, just curious how things work in kernel mode (on Windows at the moment, because I'm familiar with it more than with *nix systems).

I started reading docs on Microsoft official website and some random topics in google, but it seems kinda hard for me to understand a lot (e.g IRQLs, IRPs).

So, I would like to ask, where should I start learning such things, what should I consider and in general, on which system should I study first? (in case if *nix system's kernel land is more 'easier' than Windows's one and it will be easier to move from that knowledge on Windows).

Hey, thanks for the replies!
I've found article on CodeProject by amazing guy called Toby Opferman (https://www.codeproject.com/script/Membership/View.aspx?mid=961412). He explains things really well and I'm getting to know more about how things work down there more and more.

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